Eevee Smoke invisible on objects
I found that the following parameters influence on smoke's density above other objects:


Density value in Volume Principled shader (it should be between 30-60)
High Resolution mode in Domain object settings (using this, you can set Density 1.5-2 times smaller)
Volumetric scene settings -> Volumetric Lighting -> Light Clamping. It should about 10-15, or zero (no clamping). Using this parameter you can easily control the brightness of the smoke separately from the density.


And of course the light must be good.

Here is what I've got with Density 30, Light Clamping 10, HighRes turned on, and Sun light energy 10: